Experimental platform for the modeling and control of omnidirectional robots
Abstract
In this paper, an experimental platform for the development of robotics, control, and learning algorithms is presented. The proposed ROS architecture is open, allowing the integration of different sensors, processing units, and robots. An Active Disturbance Rejection Control (ADRC) is designed for an omnidirectional mobile robot to validate the proposed platform. Parametric uncertainties, wheel friction on the surface, and external disturbances are lumped as a total disturbance, estimated by an Extended State Observer (ESO), and compensated via a feedforward term in the control law. The omnidirectional robot can communicate through ROS with a motion capture system (server). Simulation and experimental results in real-time are presented. The control algorithm is lightweight and easy to implement and adjust in embedded systems with low computational resources or low-cost processors.
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Copyright (c) 2024 Luis Yair Leal-Ramos, Luis Antonio Jonguitud-Indalecio, María Ortíz-Michimani, Juan Díaz-Téllez, José Pedro Sánchez-Santana, José Fermi Guerrero-Castellanos
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
